Motor position compensation system and method

Abstract

A motor position compensation system according to a preferred embodiment of the present invention, in a motor position compensation system utilizing an angle sensor having a dual die structure that independently outputs a Hall signal and a Pulse-Width Modulation (PWM) signal, comprises: a monitoring unit that monitors the Hall signal and the PWM signal to determine whether a fault exists; a first electrical angle conversion unit that converts the Hall signal into an electrical angle to generate a first electrical angle signal; a second electrical angle conversion unit that converts the PWM signal into an electrical angle to generate a second electrical angle signal; and a control unit that determines the position of the motor based on the second electrical angle signal when a fault occurs in the Hall signal.

Description

Technology Field

[0001] The present invention relates to a motor position compensation system and method. Background Technology

[0002] Brushless DC motors (hereinafter "BLDC motors") are widely used in various fields, such as electric vehicles, drones, home appliances, and industrial equipment, thanks to their high energy efficiency, excellent reliability, and structural characteristics that make maintenance easy. To control BLDC motors, it is essential to accurately detect the electrical position of the rotor, and for this purpose, multiple Hall sensors are used. Hall sensors detect changes in the magnetic field generated according to the rotation angle of the rotor to provide position information, and based on this information, the motor controller performs switching control.

[0003] In actual operating environments, it may occur where one or more of the multiple Hall sensors fail or output an abnormal signal. To address this, some conventional technologies have proposed circuit configurations that compensate for the signal of the failed sensor by utilizing the signals of the remaining Hall sensors even if one of the multiple Hall sensors fails.

[0004] For example, in conventional technology, two Hall sensor signals that are normally operating among three Hall sensors are received from a motor control unit that controls the driving of a BLDC motor, a clock signal is generated to generate a compensation signal for a faulty Hall sensor, and a compensation signal for a faulty Hall sensor is output using one of the Hall sensor signals.

[0005] However, such existing technology has the following limitations.

[0006] First, since compensation is possible only when two of the three Hall sensors are functioning normally, if two or more sensors fail simultaneously, compensation operation is impossible and there is a risk that the entire system will stop.

[0007] Second, because the clock pulse generation method for fault compensation is sensitive to changes in motor speed or load conditions, the accuracy of position compensation may decrease in applications requiring real-time precision control. In particular, this method has the problem that errors can accumulate during instantaneous acceleration and deceleration of the motor.

[0008] To overcome the limitations of such existing technologies, there is a growing need for technology equipped with higher fault tolerance and precise position compensation capabilities. Prior art literature

[0009] Republic of Korea Registered Patent No. 10-2242109 The problem to be solved

[0010] Accordingly, the present invention has been devised in consideration of the above circumstances and aims to provide a motor position compensation system and method capable of ensuring high fault tolerance through a dual sensor structure that can operate independently even if one sensor fails, by utilizing an angle sensor with a dual die structure. means of solving the problem

[0011] A motor position compensation system according to a preferred embodiment of the present invention for achieving the above objective comprises: a monitoring unit that monitors the Hall signal and the PWM signal to determine whether a fault exists; a first electrical angle conversion unit that converts the Hall signal into an electrical angle to generate a first electrical angle signal; a second electrical angle conversion unit that converts the PWM signal into an electrical angle to generate a second electrical angle signal; and a control unit that determines the position of the motor based on the second electrical angle signal when a fault occurs in the Hall signal.

[0012] The second electrical angle conversion unit above can calculate an index for forced motor driving based on the accumulated value of the second electrical angle signal.

[0013] The above control unit can drive the motor to a mechanical limit point based on the motor forced drive index to set a reference position for the Hall signal, determine the position of the motor using the set reference position and the second electrical angle signal, and perform control of the motor based on the determined position.

[0014] The first electrical angle converter can, when the Hall signal is normal, read a current first position counter value based on the Hall signal, read a second position counter value at the mechanical limit position of the motor, calculate the difference between the first position counter value and the second position counter value, and generate the first electrical angle signal based on the position counter difference value.

[0015] The second electrical angle converter can read the first duty of the PWM signal and the second duty of the PWM signal at the mechanical limit position of the motor when the Hall signal is faulty and the PWM signal is normal, calculate the difference between the first duty and the second duty, and generate the second electrical angle signal based on the duty difference value.

[0016] The above second electrical angle conversion unit can calculate an accumulated position value based on the difference between the current second electrical angle signal and the previous second electrical angle signal, and store the accumulated position value and the current second electrical angle signal in the previous second electrical angle variable.

[0017] The above control unit can drive the motor using the second electrical angle signal stored in the previous second electrical angle variable when both the Hall signal and the PWM signal are faulty.

[0018] A motor position compensation method according to a preferred embodiment of the present invention for achieving the above objective comprises: a motor position compensation method using an angle sensor having a dual die structure that independently outputs a Hall signal and a Pulse-Width Modulation (PWM) signal, wherein the method comprises: a monitoring unit that monitors the Hall signal and the PWM signal to determine whether there is a fault; a first electrical angle conversion unit that converts the Hall signal into an electrical angle to generate a first electrical angle signal; a second electrical angle conversion unit that converts the PWM signal into an electrical angle to generate a second electrical angle signal; and a position determination unit that determines the position of the motor based on the second electrical angle signal when a fault occurs in the Hall signal.

[0019] The second electrical angle conversion step may include a step in which the second electrical angle conversion unit calculates an index for motor forced driving based on the accumulated value of the second electrical angle signal.

[0020] The above control unit further includes: a direction determination step in which the control unit determines the motor driving direction based on an index for forced motor driving; a first buffer generation step in which, if the motor driving direction is forward, the control unit drives the motor to a mechanical limit point based on the index for forced motor driving and stores a Hall signal in a forward buffer; and a second buffer generation step in which, if the motor driving direction is reverse, the control unit drives the motor to a mechanical limit point based on the index for forced motor driving and stores a Hall signal in a reverse buffer; and the position determination step may include a motor driving step in which the control unit sets a reference position for the Hall signal stored in the forward buffer or the reverse buffer, determines the position of the motor using the set reference position and the second electrical angle signal, and performs control of the motor using the determined position of the motor.

[0021] The first electrical angle conversion step may include: a first read step in which the first electrical angle conversion unit reads a current first position counter value based on the Hall signal when the Hall signal is normal; a second read step in which the first electrical angle conversion unit reads a second position counter value at the mechanical limit position of the motor; a calculation step in which the first electrical angle conversion unit calculates the difference between the first position counter value and the second position counter value; and a first electrical angle signal generation step in which the first electrical angle conversion unit generates a first electrical angle signal based on the position counter difference value.

[0022] The second electrical angle conversion step may include: a first read step in which the second electrical angle conversion unit reads a first duty of the PWM signal when the Hall signal is faulty and the PWM signal is normal; a second read step in which the second electrical angle conversion unit reads a second duty of the PWM signal at a mechanical limit position of the motor; a calculation step in which the second electrical angle conversion unit calculates the difference between the first duty and the second duty; and a second electrical angle calculation step in which the second electrical angle conversion unit generates the second electrical angle signal based on the duty difference value.

[0023] The second electrical angle conversion step may further include: a cumulative calculation step in which the second electrical angle conversion unit calculates a cumulative position value based on the difference between the current second electrical angle signal and the previous second electrical angle signal; and an update step in which the second electrical angle conversion unit stores the cumulative position value and the current second electrical angle signal in the previous second electrical angle variable. Effects of the invention

[0024] According to the motor position compensation system and method of a preferred embodiment of the present invention, high fault tolerance is secured through a dual sensor structure that can operate independently even if one sensor fails by using an angle sensor with a dual die structure.

[0025] In addition, even if errors occur in Hall sensor-based position detection, the auxiliary position estimation function using PWM signals enables continuous and accurate position compensation.

[0026] In addition, it has the effect of improving the control precision and stability of the BLDC motor through an algorithm that can convert and correct into accurate electrical angles, rather than the existing simple signal recovery method.

[0027] In addition, it has the effect of providing a highly reliable control system capable of stably tracking the motor's position even in various operating environments, such as sensor failures, noise, and load changes. Brief explanation of the drawing

[0028] FIG. 1 is a block diagram of a motor position compensation system according to a preferred embodiment of the present invention. Figure 2 is a diagram showing an example of a configuration in which motor control is performed based on a Hall signal output from an angle sensor. Figure 3 is a diagram showing the change in Hall sensor status and counter value when the motor rotates. Figure 4 is a diagram showing an example of a PWM signal. FIG. 5 is a flowchart of a motor position compensation method according to a preferred embodiment of the present invention. FIG. 6 is a flowchart including a forced position control process in a motor position compensation method according to a preferred embodiment of the present invention. Figure 7 is a flowchart showing the process of calculating a first electrical angle signal based on a Hall signal. Figure 8 is a flowchart showing the process of calculating a second electrical angle signal based on a PWM signal. Specific details for implementing the invention

[0029] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. First, it should be noted that in assigning reference numerals to the components of each drawing, the same components are given the same reference numeral whenever possible, even if they are shown in different drawings. Furthermore, while preferred embodiments of the present invention will be described below, the technical concept of the present invention is not limited thereto and can be modified and implemented in various ways by those skilled in the art.

[0030] FIG. 1 is a block diagram of a motor position compensation system according to a preferred embodiment of the present invention.

[0031] Referring to FIG. 1, a motor position compensation system (100) according to a preferred embodiment of the present invention is characterized by securing high fault tolerance through a dual sensor structure that can operate independently even if one sensor fails, by using an angle sensor with a dual die structure. Here, the electric motor (200) may be a BLDC motor. The electric motor (200) may be equipped with an angle sensor (300) for detecting the rotor position. The angle sensor (300) may be formed with a dual die structure capable of detecting the rotor position of the electric motor (200) and outputting a Hall signal and a PWM (Pulse Width Modulation) signal, respectively.

[0032] A motor position compensation system (100) according to a preferred embodiment of the present invention includes a monitoring unit (110), a first electrical angle conversion unit (120), a second electrical angle conversion unit (130), and a control unit (140).

[0033] The monitoring unit (110) can monitor the Hall signal and PWM signal of the angle sensor (300). The monitoring unit (110) can determine whether the angle sensor (300) is operating normally by analyzing the Hall signal and PWM signal. In one embodiment, the monitoring unit (110) can determine a fault condition based on the lack of response or abnormal pattern of the Hall signal and PWM signal.

[0034] The first electrical angle conversion unit (120) can generate a first electrical angle signal by converting the received Hall signal into an electrical angle when the Hall signal of the angle sensor (300) is determined to be normal. The first electrical angle signal can be used for position control of the electric motor (200). The process of generating the first electrical angle signal will be described in detail later.

[0035] The second electrical angle conversion unit (130) can generate a second electrical angle signal by converting the received PWM signal into an electrical angle when the PWM signal of the angle sensor (300) is determined to be normal. The second electrical angle signal can be used as auxiliary position information for position control of the electric motor (200) when an abnormality occurs in the Hall signal of the angle sensor (300). The process of generating the second electrical angle signal will be described in detail later.

[0036] The control unit (140) may be a Shift Control Unit (SCU) that receives the operation status of the shift lever as an electrical signal and controls the electric motor (200) according to the signal. If an abnormality occurs in the Hall signal of the angle sensor (300), the control unit (140) may stop using the first electrical angle signal and compensate for the position of the electric motor (200) by using the second electrical angle signal as a replacement. At this time, the control unit (140) may replace the first electrical angle signal with the accumulated value of the second electrical angle signal.

[0037] Additionally, the control unit (140) can store the Hall signal appearing in a corresponding direction in a buffer after forcibly driving the electric motor (200) to a mechanical limit according to the driving direction of the electric motor (200). Here, if the driving direction of the electric motor (200) is forward (clockwise), the control unit (140) can store the Hall signal in a forward buffer. If the driving direction of the electric motor (200) is reverse (counterclockwise), the control unit (140) can store the Hall signal in a reverse buffer. Through this, the reference position of the Hall signal can be reset. This method enables the accurate position of the motor to be recognized even in the event of a failure of the Hall sensor, and allows for continuous position control and normal operation by resetting the reference position.

[0038] Additionally, the control unit (140) can generate a motor control signal based on a position-compensated signal and apply the motor control signal to an inverter (not shown) that drives the electric motor (200).

[0039] Meanwhile, the control unit (140) can drive the electric motor (200) using the second electrical angle signal stored in the previous second electrical angle variable when both the Hall signal and the PWM signal are faulty.

[0040] A motor position compensation system (100) according to a preferred embodiment of the present invention can stably secure position information of an electric motor (200) regardless of whether there is an abnormality in the Hall signal through such a configuration, and enables the vehicle transmission to operate continuously and normally.

[0041] FIG. 2 is a diagram showing an example of a configuration in which motor control is performed based on a Hall signal output from an angle sensor. FIG. 3 is a diagram showing the change in the Hall sensor state and the counter value when the motor rotates.

[0042] FIG. 3(a) shows a change in the counter according to the clockwise (CW) rotation of the electric motor (200), and FIG. 3(b) shows a change in the state of the angle sensor (300) according to the clockwise (CW) rotation of the electric motor (200).

[0043] FIG. 3(c) shows a change in the counter according to the counterclockwise (CCW) rotation of the electric motor (200), and FIG. 3(d) shows a change in the state of the angle sensor (300) according to the counterclockwise (CCW) rotation of the electric motor (200). In one embodiment, the electric motor (200) may be a motor with a 7-pole pair (14-pole) structure having an effective range of duty cycles from 5% to 95%.

[0044] Referring to FIGS. 2 and 3, an electric motor (200) generally has an angle sensor (300) comprising a plurality of Hall sensors applied to detect the position of the rotor. The plurality of Hall sensors (U, V, W) are arranged around the rotor at intervals of approximately 120 degrees and detect the position of the rotor by outputting a digital value of 0 or 1, respectively. At this time, there are a total of six valid patterns generated from the combination of the plurality of Hall sensors (e.g., 101, 100, 110, 010, 011, 001), and each pattern represents a position of the rotor in 60-degree increments.

[0045] The state of the Hall sensor changes in a specific order as the rotor rotates, changing in the order of 5, 4, 6, 2, 3, 1 when rotating in the forward direction (clockwise), and in the order of 5, 1, 3, 2, 6, 4 when rotating in the reverse direction (counterclockwise). These changes in the state of the Hall sensor are used to determine the rotation direction and speed of the electric motor (200) and to determine an efficient energization sequence.

[0046] A position counter may be used to quantitatively indicate the amount of rotation of the electric motor (200). The position counter is a value that is accumulated and updated whenever the state of the Hall sensor changes, and numerically indicates how much the rotor has rotated from a reference point (e.g., initial position). The operation process of the position counter is described below.

[0047] First, whenever the state value of the Hall sensor changes, the state change is detected by comparing the current state with the previous state.

[0048] The rotation direction of the electric motor (200) is determined based on the sequence of forward state changes and the sequence of reverse state changes.

[0049] When a forward state change is detected, the counter value is decreased by 1, and when a reverse state change is detected, the counter value is increased by 1.

[0050] After a reference point is set, the rotation angle can be calculated based on the counter value and the number of pole pairs (P) of the motor. In one embodiment, for an electric motor (200) having 2 pole pairs (P=2), if the position counter value is 7, the rotation position can be calculated as shown in the following mathematical formula 1.

[0051] <Mathematical Formula 1>

[0052] 7 × (360° ÷ (6 × 2)) = 210°

[0053] Figure 4 is a diagram showing an example of a PWM signal.

[0054] Referring to FIG. 4, the PWM signal is output along with the Hall signal from the angle sensor (300) and has a duty value that varies according to the rotor position of the electric motor (200). The PWM signal is output with a duty ratio in the range of 5% to 95%, which corresponds to the mechanical angles of the motor rotor from 0° to 360°, respectively.

[0055] The output period and resolution of the PWM signal can be set according to the settings of the angle sensor (300). The PWM signal is useful for fine position control and correction that is difficult to detect with only the Hall signal.

[0056] In addition, for a dual-die angle sensor (300) for a system with high safety requirements (e.g., ASIL C or D, etc.), it may be configured to output a Hall signal from the first die and a PWM signal from the second die. In this case, even if a failure occurs in the first die that outputs the Hall signal, the second die can output the PWM signal normally, so that position detection and driving of the electric motor (200) can be continuously performed.

[0057] FIG. 5 is a flowchart of a motor position compensation method according to a preferred embodiment of the present invention.

[0058] Referring to FIG. 5, a motor position compensation method according to a preferred embodiment of the present invention is characterized by securing high fault tolerance through a dual sensor structure that can operate independently even if one sensor fails, by using an angle sensor with a dual die structure.

[0059] In the first monitoring step (S510), the monitoring unit (110) can receive a Hall signal of the first die from an angle sensor (300) of the dual die structure. The monitoring unit (110) can determine whether the Hall signal is faulty.

[0060] In the first electrical angle conversion step (S520), the first electrical angle conversion unit (120) converts the Hall signal into an electrical angle when the Hall signal is normal to generate a first electrical angle signal.

[0061] In the first position determination step (S530), the control unit (140) can determine the position of the electric motor (200) using the first electrical angle signal. The control unit (140) can perform control of the electric motor (200) using the determined position of the electric motor (200).

[0062] In the second monitoring step (S540), the monitoring unit (110) can receive a PWM signal of the second die from the angle sensor (300) of the dual die structure. The monitoring unit (110) determines whether the PWM signal of the angle sensor (300) is faulty in the case of a fault in the Hall signal.

[0063] In the second electrical angle conversion step (S550), the second electrical angle conversion unit (130) converts the PWM signal into an electrical angle when the PWM signal is normal to generate a second electrical angle signal.

[0064] In the second position determination step (S560), the control unit (140) determines the position of the electric motor (200) using a second electrical angle signal that replaces the first electrical angle signal when the Hall signal is faulty and the PWM signal is normal. The control unit (140) can perform control of the electric motor (200) using the determined position of the electric motor (200).

[0065] FIG. 6 is a flowchart including a forced position control process in a motor position compensation method according to a preferred embodiment of the present invention.

[0066] Referring to FIG. 6, in the first monitoring step (S610), the monitoring unit (110) can receive a Hall signal of the first die from an angle sensor (300) of the dual die structure. The monitoring unit (110) can determine whether the Hall signal is faulty.

[0067] In the first electrical angle conversion step (S620), the first electrical angle conversion unit (120) converts the Hall signal into an electrical angle when the Hall signal is normal to generate a first electrical angle signal.

[0068] In the first position determination step (S630), the control unit (140) can determine the position of the electric motor (200) using the first electrical angle signal. The control unit (140) can perform control of the electric motor (200) using the determined position of the electric motor (200).

[0069] In the second monitoring step (S640), the monitoring unit (110) can receive a PWM signal of the second die from the angle sensor (300) of the dual die structure. The monitoring unit (110) determines whether the PWM signal of the angle sensor (300) is faulty in the case of a fault in the Hall signal.

[0070] In the second electrical angle conversion step (S650), the second electrical angle conversion unit (130) converts the PWM signal into an electrical angle when the PWM signal is normal to generate a second electrical angle signal. The second electrical angle conversion unit (130) can calculate an index for forced motor driving based on the accumulated value of the second electrical angle signal.

[0071] In the direction determination step (S660), the control unit (140) can determine the motor driving direction based on the motor forced driving index when the Hall signal is faulty and the PWM signal is normal.

[0072] In the first buffer generation step (S670), when the motor driving direction is forward, the control unit (140) can drive the motor to a mechanical limit point based on an index for forced motor driving and store a Hall signal in the forward buffer.

[0073] In the second buffer generation step (S680), the control unit (140) can drive the motor to a mechanical limit point based on an index for forced motor driving when the motor driving direction is reverse, and store a Hall signal in the reverse buffer.

[0074] In the motor driving step (S690), the control unit (140) sets a reference position for a Hall signal stored in a forward buffer or a reverse buffer, and determines the position of the electric motor (200) using the set reference position and a second electrical angle signal. The control unit (140) can control the electric motor (200) using the determined position of the electric motor (200).

[0075] Figure 7 is a flowchart showing the process of calculating a first electrical angle signal based on a Hall signal.

[0076] Referring to FIG. 7, in the first read step (S710), the first electrical angle converter (120) reads the current position counter value (hereinafter referred to as the first position counter value) when the Hall signal is normal. This first position counter value is an accumulated value that increases or decreases according to the state change of the Hall sensor and represents the amount of relative rotation from a reference point (e.g., initial position).

[0077] In the second read step (S720), the first electric angle converter (120) can read the second position counter value at the mechanical limit position of the electric motor (200). At this time, the control unit can apply a duty cycle to the electric motor (200) to move the rotor to the mechanical limit point (e.g., a physical wall). The second position counter value can be used as a physical reference point.

[0078] In the calculation step (S730), the first electric angle conversion unit (120) calculates the difference between the first position counter value and the second position counter value. This position counter difference value (PosCounter - PosCounterCap) represents the relative amount of rotation of the electric motor (200) moved from the reference point.

[0079] In the first electric signal generation step (S740), the first electric angle conversion unit (120) can generate a first electric angle signal based on the position counter difference value. The position counter value is converted into an electric angle of the electric motor (200), and the conversion formula can be expressed as Equation 2 below.

[0080] <Mathematical Formula 2>

[0081] AngleCount = PosCounter × 60 degrees

[0082] In the case of mathematical formula 2, it is a conversion formula that takes into account that the state of the Hall sensor of the electric motor (200) changes in electrical angles of 60 degrees. For example, if the position counter value (PosCounter) is 3, this corresponds to 180 degrees (3 × 60 degrees) based on the rotor electrical angle. Therefore, according to this method, it is possible to calculate an accurate electrical angle based on the position counter value and reference position when the Hall sensor is in a normal state, and this can be used as information that serves as a reference for controlling the electric motor (200).

[0083] Figure 8 is a flowchart showing the process of calculating a second electrical angle signal based on a PWM signal.

[0084] Referring to FIG. 8, in the timeout determination step (S810), the second electrical angle conversion unit (130) determines a timeout failure of the PWM signal.

[0085] In the flag setting step (S811), the second electrical angle converter (130) sets a fault flag of the position PWM signal when a timeout failure occurs in the PWM signal and terminates subsequent processing.

[0086] In the first read step (S820), the second electrical angle converter (130) can read the duty value of the current PWM signal (hereinafter, the first duty) when the PWM signal is output normally. At this time, since the effective range of the PWM signal is generally set to 5% to 95%, a standardized duty value can be calculated by subtracting 5 from the duty value at the time of measurement.

[0087] In the second read step (S830), the second electrical angle converter (130) can read the second duty of the PWM signal at the mechanical limit position of the electric motor (200). At this time, the control unit (140) can apply the duty to the electric motor (200) to move the rotor to the mechanical limit point (e.g., a physical wall).

[0088] In the calculation step (S840), the second electrical angle conversion unit (130) calculates the difference value (DutyDiff) between the first duty and the second duty.

[0089] In the second electrical angle calculation step (S850), the second electrical angle conversion unit (130) can generate a second electrical angle based on the duty difference value. The duty difference value (DutyDiff) can be used for electrical angle conversion as shown in Equation 3 below.

[0090] <Mathematical Formula 3>

[0091] Angle = DutyDiff ÷ 90 × 360 × 7

[0092] In the case of mathematical formula 3, the PWM duty range (90%) corresponds to a full 360-degree rotation, and is a calculation formula including a correction factor (×7) for, for example, a 7-pole pair (14-pole) electric motor (200).

[0093] In the initial judgment step (S860), the second electrical angle conversion unit (130) determines whether the function related to electrical angle conversion is called for the first time.

[0094] In the previous value storage step (S870), the second electrical angle conversion unit (130) can store the current electrical angle in the previous second electrical angle variable when the function is first called. At this time, the second electrical angle conversion unit (130) initializes the accumulated motor position variable (accumulated position value).

[0095] In the cumulative calculation step (S880), the second electrical angle conversion unit (130) calculates the cumulative position value by comparing the current second electrical angle with the previous second electrical angle value.

[0096] In the update step (S890), the second electrical angle conversion unit (130) updates the accumulated position value to the variable and stores the current second electrical angle value in the previous second electrical angle variable for the next operation.

[0097] The foregoing description is merely an illustrative explanation of the technical concept of the present invention, and those skilled in the art to which the present invention pertains will be able to make various modifications, changes, and substitutions within the scope of the essential characteristics of the present invention. Accordingly, the embodiments disclosed in the present invention and the accompanying drawings are intended to explain, not limit, the technical concept of the present invention, and the scope of the technical concept of the present invention is not limited by such embodiments and accompanying drawings.

[0098] The steps and / or operations according to the present invention may occur in a different order, in parallel, or simultaneously in different embodiments for different epochs, as can be understood by a person skilled in the art.

[0099] Depending on the embodiment, some or all of the steps and / or operations may be implemented or performed in some or all of the way using instructions, programs, interactive data structures, and one or more processors running clients and / or servers stored on one or more non-transient computer-readable media. One or more non-transient computer-readable media may be, for example, software, firmware, hardware, and / or any combination thereof. Additionally, the functions of the “module” discussed herein may be implemented in software, firmware, hardware, and / or any combination thereof. Explanation of the symbols

[0100] 100: Motor position compensation system 110: Monitoring Department 120: First electrical angle converter 130: Second electrical angle converter 140: Control unit 200: Electric motor 300: Angle sensor

Claims

Claim 1 A motor position compensation system utilizing an angle sensor with a dual die structure that independently outputs a Hall signal and a Pulse-Width Modulation (PWM) signal, comprising: a monitoring unit that monitors the Hall signal and the PWM signal to determine whether a fault exists; a first electrical angle conversion unit that converts the Hall signal into an electrical angle to generate a first electrical angle signal; a second electrical angle conversion unit that converts the PWM signal into an electrical angle to generate a second electrical angle signal; and a control unit that determines the position of the motor based on the second electrical angle signal when a fault occurs in the Hall signal; wherein the second electrical angle conversion unit calculates an index for forced motor driving based on the accumulated value of the second electrical angle signal. Claim 2 delete Claim 3 A motor position compensation system according to claim 1, wherein the control unit drives the motor to a mechanical limit point based on the motor forced driving index to set a reference position for the Hall signal, determines the position of the motor using the set reference position and the second electrical angle signal, and performs control of the motor based on the determined position. Claim 4 A motor position compensation system according to claim 1, wherein the first electrical angle converter reads a current first position counter value based on the Hall signal when the Hall signal is normal, reads a second position counter value at the mechanical limit position of the motor, calculates the difference between the first position counter value and the second position counter value, and generates the first electrical angle signal based on the position counter difference value. Claim 5 A motor position compensation system according to claim 1, wherein the second electrical angle converter reads the first duty of the PWM signal and reads the second duty of the PWM signal at the mechanical limit position of the motor when the Hall signal is faulty and the PWM signal is normal, calculates the difference between the first duty and the second duty, and generates the second electrical angle signal based on the duty difference value. Claim 6 A motor position compensation system according to claim 5, wherein the second electrical angle conversion unit calculates an accumulated position value based on the difference between the current second electrical angle signal and the previous second electrical angle signal, and stores the accumulated position value and the current second electrical angle signal in the previous second electrical angle variable. Claim 7 A motor position compensation system according to claim 6, wherein the control unit performs driving of the motor using the second electrical angle signal stored in the previous second electrical angle variable when both the Hall signal and the PWM signal are faulty. Claim 8 A motor position compensation method utilizing an angle sensor with a dual die structure that independently outputs a Hall signal and a Pulse-Width Modulation (PWM) signal, comprising: a monitoring unit, a monitoring step in which the monitoring unit monitors the Hall signal and the PWM signal to determine whether a fault exists; a first electrical angle conversion unit, a first electrical angle conversion step in which the first electrical angle converts the Hall signal into an electrical angle to generate a first electrical angle signal; a second electrical angle conversion unit, a second electrical angle conversion step in which the second electrical angle converts the PWM signal into an electrical angle to generate a second electrical angle signal; and a control unit, a position determination step in which, if a fault occurs in the Hall signal, the position of the motor is determined based on the second electrical angle signal; wherein the second electrical angle conversion step comprises a step in which the second electrical angle converting unit calculates an index for forced motor driving based on the accumulated value of the second electrical angle signal. Claim 9 delete Claim 10 A motor position compensation method according to claim 8, further comprising: a direction determination step in which the control unit determines the motor driving direction based on an index for motor forced driving; a first buffer generation step in which, when the motor driving direction is forward, the control unit drives the motor to a mechanical limit point based on the index for motor forced driving and stores a Hall signal in a forward buffer; and a second buffer generation step in which, when the motor driving direction is reverse, the control unit drives the motor to a mechanical limit point based on the index for motor forced driving and stores a Hall signal in a reverse buffer; wherein the position determination step comprises a motor driving step in which the control unit sets a reference position for a Hall signal stored in the forward buffer or the reverse buffer, determines the position of the motor using the set reference position and the second electrical angle signal, and performs control of the motor using the determined position of the motor. Claim 11 A motor position compensation method according to claim 8, wherein the first electrical angle conversion step comprises: a first read step in which the first electrical angle conversion unit reads a current first position counter value based on the Hall signal when the Hall signal is normal; a second read step in which the first electrical angle conversion unit reads a second position counter value at the mechanical limit position of the motor; a calculation step in which the first electrical angle conversion unit calculates the difference between the first position counter value and the second position counter value; and a first electrical angle signal generation step in which the first electrical angle conversion unit generates a first electrical angle signal based on the position counter difference value. Claim 12 In claim 8, the second electrical angle conversion step comprises: a first read step in which the second electrical angle conversion unit reads a first duty of the PWM signal when the Hall signal is faulty and the PWM signal is normal; a second read step in which the second electrical angle conversion unit reads a second duty of the PWM signal at a mechanical limit position of the motor; a calculation step in which the second electrical angle conversion unit calculates the difference between the first duty and the second duty; and a second electrical angle calculation step in which the second electrical angle conversion unit generates the second electrical angle signal based on the duty difference value; a motor position compensation method. Claim 13 A motor position compensation method according to claim 12, wherein the second electrical angle conversion step further comprises: a cumulative calculation step in which the second electrical angle conversion unit calculates a cumulative position value based on the difference between a current second electrical angle signal and a previous second electrical angle signal; and an update step in which the second electrical angle conversion unit stores the cumulative position value and the current second electrical angle signal in a previous second electrical angle variable.

Images